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author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-26 09:12:17 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-26 09:12:17 +0200 |
commit | c5731bbc3f29361f3d50ecc54d44a521d2441a48 (patch) | |
tree | 9820a5cf54f4096f54250d484248a1f53a66a8cb /src/modules/commander | |
parent | 25379771012761cd331e26eedd6a7ac649e04f5f (diff) | |
download | px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.tar.gz px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.tar.bz2 px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.zip |
TAKEOFF implemented for multirotors, added altitude check to waypoint navigation.
Diffstat (limited to 'src/modules/commander')
-rw-r--r-- | src/modules/commander/commander.cpp | 14 | ||||
-rw-r--r-- | src/modules/commander/state_machine_helper.cpp | 1 |
2 files changed, 10 insertions, 5 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 74cd5e36a..39d74e37a 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -210,7 +210,7 @@ void print_reject_arm(const char *msg); void print_status(); -transition_result_t check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode); +transition_result_t check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. @@ -1214,7 +1214,7 @@ int commander_thread_main(int argc, char *argv[]) } /* evaluate the navigation state machine */ - transition_result_t res = check_navigation_state_machine(&status, &control_mode); + transition_result_t res = check_navigation_state_machine(&status, &control_mode, &local_position); if (res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ @@ -1572,7 +1572,7 @@ print_reject_arm(const char *msg) } transition_result_t -check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode) +check_navigation_state_machine(struct vehicle_status_s *current_status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos) { transition_result_t res = TRANSITION_DENIED; @@ -1592,8 +1592,12 @@ check_navigation_state_machine(struct vehicle_status_s *current_status, struct v case MAIN_STATE_AUTO: if (current_status->arming_state == ARMING_STATE_ARMED || current_status->arming_state == ARMING_STATE_ARMED_ERROR) { if (current_status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { - /* don't act while taking off */ - res = TRANSITION_NOT_CHANGED; + /* check if takeoff completed */ + if (local_pos->z < -5.0f && !status.condition_landed) { + res = navigation_state_transition(current_status, NAVIGATION_STATE_AUTO_LOITER, control_mode); + } else { + res = TRANSITION_NOT_CHANGED; + } } else { if (current_status->condition_landed) { diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 80ee3db23..fe7e8cc53 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -413,6 +413,7 @@ navigation_state_transition(struct vehicle_status_s *current_status, navigation_ if (ret == TRANSITION_CHANGED) { current_status->navigation_state = new_navigation_state; + control_mode->auto_state = current_status->navigation_state; navigation_state_changed = true; } } |